Virtual decomposition based motion/force control of two coordinated industrial manipulators KUKA361/KUKA160

Virtual decomposition control approach is applied to two coordinated industrial manipulators KUKA361 and KUKA160 subject to a rigid unilateral constraint. In order to accommodate motion/force control with the rigid unilateral constraint, the required velocity is re-designed by introducing filtered contact forces in full control space. This provides the controlled robots with a hybrid control behavior in case of a known contact geometry and with an impedance control behavior in case of an unknown contact geometry. The experiment demonstrates bouncing-free rigid contact control stability and filtered force tracking capability, in addition to asymptotic motion tracking.